Automated system and method for determining positional order through photometric and geospatial data

ABSTRACT

A system and method for determining positional order of vehicles across a threshold plane within a dynamic environment is provided. The system can include moving vehicles (e.g., boats) each having a GPS receiver. A reference object (e.g., an anchored boat) can have an image capturing device and a primary GPS receiver, and can be subject to movement induced by the dynamic environment. A fixed object having a known position (e.g., a government buoy) relative to the reference object define a threshold plane, which is subject to movement based on movement of the reference object. Photometric data gathered by the image capturing device and geospatial data gathered from the GPS receivers, the primary GPS receiver, and the fixed object is analyzed by a processor to determine a positional order at which each vehicle crossed the movable threshold plane.

BACKGROUND

Determining time and position of vehicles during a race is important,particularly as they cross a finish line. Of particular difficulty isdetermining a finishing order of racing sailboats, for example. Existingmethods include manual time keeping, which relies upon human eyes andstopwatches. However, such methods have various drawbacks that canresult in errors when determining finishing order. In addition,environmental forces, such as wind, oceanic currents, and waves alsocontribute to difficulties in accurately determining finishing order ofracing sailboats.

BRIEF DESCRIPTION OF THE DRAWINGS

Features and advantages of the invention will be apparent from thedetailed description which follows, taken in conjunction with theaccompanying drawings, which together illustrate, by way of example,features of the invention; and, wherein:

FIG. 1 is an illustration of a system for determining time andpositional order of vehicles across a threshold plane in accordance withan example of the present disclosure;

FIG. 2 is an illustration of a communication system usable with thesystem of FIG. 1 in accordance with an example of the presentdisclosure;

FIG. 3 is an illustration of a method for determining time andpositional order of vehicles across a threshold plane in accordance withan example of the present disclosure; and

FIG. 4 is an illustration of a method for determining time andpositional order of vehicles across a threshold plane in accordance withan example of the present disclosure.

Reference will now be made to the exemplary embodiments illustrated, andspecific language will be used herein to describe the same. It willnevertheless be understood that no limitation of the scope of theinvention is thereby intended.

DETAILED DESCRIPTION

As used herein, the term “substantially” refers to the complete ornearly complete extent or degree of an action, characteristic, property,state, structure, item, or result. For example, an object that is“substantially” enclosed would mean that the object is either completelyenclosed or nearly completely enclosed. The exact allowable degree ofdeviation from absolute completeness can in some cases depend on thespecific context. However, generally speaking the nearness of completionwill be so as to have the same overall result as if absolute and totalcompletion were obtained. The use of “substantially” is equallyapplicable when used in a negative connotation to refer to the completeor near complete lack of an action, characteristic, property, state,structure, item, or result.

As used herein, “adjacent” refers to the proximity of two structures orelements. Particularly, elements that are identified as being “adjacent”can be either abutting or connected. Such elements can also be near orclose to each other without necessarily contacting each other. The exactdegree of proximity can in some cases depend on the specific context.

An initial overview of technology embodiments is provided below and thenspecific technology embodiments are described in further detail later.This initial summary is intended to aid readers in understanding thetechnology more quickly but is not intended to identify key features oressential features of the technology nor is it intended to limit thescope of the claimed subject matter.

In one example there is provided a system for determining positionalorder of vehicles across a threshold plane within a dynamic environment.The system can include a plurality of GPS receivers that are eachmounted on respective moving objects, such as vehicles. A referenceobject can have an image capturing device and a primary GPS receiver.The reference object can be subject to movement induced by the dynamicenvironment (such as a boat on a surface of water being subjected towind, current, and/or waves). The system can include a fixed objecthaving a known position (e.g., a government buoy) and can be located ata position relative to the reference object. A threshold plane can bedefined by a distance between the reference object and fixed object, ora threshold plan extending through points defined by the referenceobject and the fixed object. The image capturing device on the referenceobject can have a focal point directed toward the fixed object along thethreshold plane. The threshold plane can be subject to movements inducedby movement of the reference object. For example, the threshold planecan be a finishing line for racing sailboats whereby the threshold planecan move due to movement of the reference object from forces induced bythe environment. Photometric data can be gathered by the image capturingdevice and geospatial data can be gathered from the plurality of GPSreceivers, the primary GPS receiver, and the known location of the fixedobject. The system can include a computer system having a processorconfigured to receive the photometric data and geospatial data, and alsoconfigured to determine a positional order at which the vehicles crossthe threshold plane by comparing the position of each vehicle relativeto the threshold plane based on data sets obtained from the photometricand geospatial data.

The moving vehicles and the reference object can each comprise at leastone of a water vehicle or air vehicle. The known position of the fixedobject can be gathered from a GPS receiver on the fixed object, or theknown position can be determined based on the fixed object's knownmapping location having a predetermined latitude and longitude. Adistance of the threshold plane (between the reference object and thefixed object) can be calculated based on the primary GPS receiverlocation and the known location of the fixed object.

The processor can be configured to compare successive images gatheredfrom the image capturing device to determine a displacement distance anda velocity of at least one of the vehicles. The processor can decode andanalyze super frame data and time delta data to determine a relativetime and a relative position for each vehicle as it crosses thethreshold plane. The processor can be configured to align time of datalogs gathered from the photometric data and geospatial data to determinethe positional order at which the vehicles cross the threshold plane.Various calibrations can be performed beforehand to sync the time ofdata of the photometric and geospatial data or data sets.

In one example there is provided a method for determining positionalorder of vehicles crossing a threshold plane within a dynamicenvironment. The method can include identifying one or more movingvehicles, each comprising a GPS receiver for determining a respectivevehicle location. The method can include positioning a reference objectrelative to a fixed object having a known position. The reference objectcan have an image capturing device and a primary GPS receiver. Thereference object and the fixed object can define a threshold planebetween them, and the threshold plane can be subject to movementsinduced by the movements of the reference object. The method can includecapturing images with the image capturing device of the vehiclescrossing the threshold plane. The method can include receivinggeospatial data gathered from the GPS receivers, the primary GPSreceiver, and the known position of the fixed object. The method caninclude receiving photometric data gathered by the image capturingdevice. The method can include comparing the position of each vehicle ata time each vehicle crosses the threshold plane by analyzing thephotometric data and the geospatial data. The method can includeindicating and/or displaying a determined positional order at which eachvehicle crossed the threshold plane. The method can include comparingthe position by aligning time of data logs gathered from the photometricdata and geospatial. The method can include determining a reference timeand a reference position of the reference object based on the datagathered from the primary GPS receiver and the known position of thefixed object. The method can include analyzing successive imagesgathered from the image capturing device as each vehicle is adjacent toor across the threshold plane to determine at least one of adisplacement distance and a velocity of at least one of the vehicles.The method can include decoding super frame data and time delta data todetermine a relative time and a relative position for each vehicle as itcrosses the threshold plane.

In another example a method is provided for determining finishing orderof boats crossing a finishing line. The method can include identifyingone or more boats in a race, each comprising a GPS receiver fordetermining a respective boat location. The method can includepositioning a reference boat relative to a fixed object having a knownposition, whereby the reference boat and the fixed object define afinishing line between them that is subject to movements induced by themovements of the reference boat. The method can include indicating adetermined positional order at which each boat crossed the finishingline by analyzing photometric data gathered from an image recordingdevice on the reference boat as compared to geospatial data gatheredfrom the GPS receiver on each boat, a primary GPS receiver on thereference boat, and the known position of the fixed object. The methodcan include allowing the reference boat to move due to environmentalforces acting on the reference boat, thereby facilitating a dynamicfinishing line.

FIGS. 1 and 2 illustrate a method and system (collectively “100”) fordetermining positional order of vehicles across a threshold plane P. Aswill be explained in more detail below, by collecting pictorial evidenceof all vehicles crossing a finishing line (or other threshold plane)between two GPS-measured locations, geometry and time extrapolation candetermine when a vehicle crosses the threshold plane. Pictorial evidencemay be obtained through the use of a video camera or a sequence of stillphotographs taken at a frame rate sufficient to capture the appropriatedetail at the threshold plane (e.g., finish line). This disclosure setsforth technology that incorporates the use of GPS data to continuouslytrack the reference object as the “moving” point or end of the thresholdplane in reference to the “fixed” object end or point of the thresholdplane, and to provide spatial and temporal reference to a mark andsurrounding boats that can be used to determine position throughgeometry.

In one example, this can occur within a dynamic environment, meaning anenvironment in which the reference object, the fixed object, and/or thethreshold plane extending between them, can be subject to movement, suchas due to environmental conditions or influences. The system 100 caninclude a plurality of GPS receivers 102 a, 102 b, 102 c mounted onrespective moving vehicles 104 a, 104 b and 104 c. In the example ofFIG. 1, the moving vehicles are sailboats racing each other, and thethreshold plane P is a finishing line (or an inter-race checkpoint).However, the features described in the present disclosure can beimplemented in other systems within dynamic environments, such asobjects (e.g., airplanes) participating in an air race.

In the example shown, each GPS receiver can be located on the individualracing sailboats (the moving objects), such as mounted to a mast or thebow of a respective sailboat, for example. It will be recognized thatthe vehicles can comprise other types of moving objects, such as cars,planes, helicopters, submarines, or others, or a combination of these.

A reference object 106 can be positioned relative to a fixed object 108having a known location. The reference object 106 can include an imagecapturing device 110 (e.g., a video camera) with its position mappedwith GPS. The reference object can further include or have thereon aprimary GPS receiver 112, which can be electrically coupled together inan apparatus, or can be separate apparatuses, on the reference object106. The reference object 106 can be subject to movement induced by theenvironment, such as wind, waves, and/or oceanic currents, and cantherefore vary in its position, thus providing a moving point or end ofthe threshold plane. The fixed object 108 can have a known positiondetermined by a fixed mapping point or by a GPS receiver 113 thereon.Thus, the primary GPS receiver 112 on the reference object 106 and theknown position of the fixed object 108 can define the threshold plane Pextending between them. The threshold plane P can also be subject tomovements as a result of movement of the reference object 106 induced bythe environment.

As one example, in a sailboat race the reference object 106 can be acommittee or referee boat anchored to a sea floor or subsurface, asshown. The committee boat can be tasked with defining a finishing lineand assisting with determination of the time and positional order atwhich racing sailboats cross the finish line. Even when anchored,however, the committee boat can experience movements caused or inducedby the environment or other factors, such as winds, oceanic currents,and/or waves. Thus, it can be quite difficult to accurately ascertainthe time and positional order at which racing sailboats cross the finishline. In one example of a dynamic threshold plane (e.g., finishingline), at a time before a race is completed the threshold plane P can beat position A (as shown by the dashed line) as defined by a distancebetween the reference object 106 and the fixed object 108. As thevehicles 104 a, 104 b, and 104 c approach the threshold plane P atposition A, the reference object 106 may be displaced a certain distanceaway from its original position in a direction shown by arrow X. Thus,the threshold plane P can be subject to movements (in this case thethreshold plane is shown as being moved from position A to position B).

Once one of the vehicles comes in view of the image capturing device,video or still images can begin to be captured by the image capturingdevice 110 along the threshold plane P. To accomplish this, the imagecapturing device 110 can be positioned and activated such that itcaptures video and/or images directly down the line of the thresholdplane, or in other words can have its focal plane directed down the lineof the threshold plane so as to be able to capture (e.g., in video orstill image format) the moving vehicles as they cross the thresholdplane. This represents photometric data. In addition, geospatial data,such as GPS time and position, can be simultaneously gathered and loggedfrom the GPS receivers 102 a-c, the primary GPS receiver 112, and theknown location of the fixed object 108, as each vehicle crosses thethreshold plane P (of course, by the time all vehicles have crossed thefinish line, the threshold plane may have again moved to a differentposition, which positions can be different for each moment in time avehicle crosses the plane). The gathered photometric data and geospatialdata (being time synced) can be utilized (e.g., transferred to acomputer) to accurately determine a time and positional order of eachvehicle 104 a-c relative to the threshold plane P at the particularmoment in time each vehicle crossed the plane.

In order to determine positional order of moving vehicles across athreshold plane P, a computer system 116 (having a processor, memory,storage, etc.) can be configured to receive and analyze the gatheredphotometric data and geospatial data by comparing the time and positionof each moving vehicle relative to the threshold plane at the momentsaid vehicle crosses the plane (FIG. 2). Stated differently, thecomputer can be configured to time-align the GPS logs and the video. Inthis case, “time alignment” pertains to the process of signalprocessing, and means that events can be resolved to a specific level oftime measurement to permit “alignment” or time “hacks” to a time base.This means that if events are resolved to one second intervals, theevents can be aligned to the one second boundary and are “time aligned”to the start of a given second in order to align the time of the events,such as the time of the events logged or captured by the primary GPSreceiver, the GPS receivers, and the image capturing device.

Transmitting and receiving GPS coordinates of moving or stationaryobjects can comprise a system of a plurality of satellites (e.g., fouror more satellites 118) to triangulate the exact location of a GPSreceiver 102 a-c. The accuracy of the position of a GPS receiver can beless than a foot, and a GPS receiver can transmit position coordinatesbetween one time-per-second to one thousand times-per-second, dependingon the receiver.

The position coordinates can be transmitted by known means to acollection unit, such as a computer system 116 connected to theinternet, or having a radio or satellite receiver. As illustrated onFIG. 2, each GPS receiver 102 a-c on each vehicle 104 a-c can be coupledto a wireless unit 120 a-c configured to convert an acquired geospatialdata into a wireless signal for transmitting to the computer system 116,for instance (known as “active tracking” or “real-time tracking”). Theprimary GPS receiver 112 and the image capturing device 110 can also becoupled to a wireless unit 122 for transmission of their respectivephotometric and geospatial data to the computer system 116, or they canbe directly coupled to the computer system 116, such as one located onthe reference object 106, for example. Alternatively, the geospatialdata and photometric data can be locally uploaded to the computer system116 at a later time (e.g., after the race) for analysis anddetermination of positional order (i.e., “passive tracking”). In someaspects, the system can be automated with data uploaded in real-time tothe computer system for automated determination of time and positionalorder at which the vehicles cross the threshold plane.

The determination of finishing order, for example, can be achieved by acomputer program executed by the processor that compares the position ofeach vehicle at a time each vehicle crosses the threshold plane byanalyzing the photometric data and the geospatial data, as exemplifiedherein. The processor can be configured to execute instructions thatalign time of data logs gathered from the photometric data and thegeospatial data, and then that compares the time aligned logs to therelative positional data of the reference object 106, the fixed object108, and one or more of the vehicles 104 a-c. Based on such comparison,the processor can then execute instructions that indicate (and/or causeto be displayed) a determined positional order of when each vehiclecrossed the threshold plane P at whatever position the threshold plane Pmay have been when crossed. Positional order can be based on a sequenceof frames. For instance, if a frame is taken every second then the frameis aligned to the second boundary. The frames can also contain anacceding sequence number within the metadata of each frame. In this waya first frame would be “1” and the second frame “2”. Thus, frame “120”would show information two minutes (120 seconds) after frame 1. In apractical implementation, the time resolution would come from a framerate of 10 to 120+ frames per second. This would yield 0.1 to 0.008seconds. Thus, the frame where the geometry of a particular image frameis consistent with crossing the threshold plane P can then be recordedas the finish time for that particular vehicle.

For every frame in which a moving vehicle is in view, the distancebetween the reference vehicle and the fixed object is calculated usingthe GPS logs and the mapped location, thus accounting for “drift” awayfrom the original point at the frequency of GPS updates. Usingsuccessive images, the system can compute the displaced distance and thespeed of the approaching vehicle. On successive images when the movingvehicle has crossed the threshold plane, the system can use the SuperFrames and corresponding Deltas to extrapolate the time within the videoor photometric data that the moving vehicle crossed the threshold plane.As further discussed above, the positional order can be determined bythe timeline or time alignment of the image frames generated by theimage capturing device (e.g., video camera, smart phone, or otherimager). Thus, these image frames can be used to interpolate the exactmoment a vehicle crosses the threshold plane, when necessary.

In some situations where a vehicle crosses a particular threshold planeat a high velocity (i.e., such that there is not an image frame of theexact moment of the boat crossing the plane), or where two vehiclescross at nearly the exact same moment, for example, the processor can beconfigured to execute instructions that compare successive imagesgathered from the image capturing device to determine a displacementdistance and a velocity of at least one of the vehicles. This can beachieved by decoding super frame data and time delta data to determine arelative time and a relative position of vehicle(s) to interpolate thetime at which the vehicle(s) crossed the threshold plane. Other factorsand margins for error can contribute to the possible inability todetermine the precise time a vehicle crossed the threshold plane. Forexample, consider a thirty frames/second video camera coupled to thereference object 106. If the reference object 106 drifts due to a windof 10 knots, the reference object 106 would drift 60,000 feet/hour (or16.67 feet/second). In a given image frame, the reference object 106will drift 16.67 feet per 30 frames/second, which results in about halfa foot in error. If necessary, inter-frame interpolation can be used toreduce this error down to less than an inch, as described above. Thislevel of fidelity exceeds the resolving power of a video camera and istherefore not a limiting factor. In addition, position resolution can belimited by the optical resolution of the video camera. Consider a camerathat is approximately twenty megapixels. Such a camera can have up to4000 pixels in width. If there is a 400 foot field of view of the finishline (e.g., the threshold plane), each pixel would be on the order of aninch. Motion, vibration, or camera focus can contribute to error indetermining finishing order, as will the frequency of updated geospatialdata of every GPS receiver. However, this possibility of error can beminimized (or neglected) by interpolating data gathered from successiveframes to determine the exact moment in time that a particular vehiclecrossed the finishing line, as discussed above.

FIG. 3 illustrates a method 200 for determining positional order ofvehicles crossing a threshold plane within a dynamic environment. Themethod 200 can include identifying 202 one or more moving vehicles, eachvehicle comprising a GPS receiver for determining a respective vehiclelocation. Step 204 can include positioning a reference object relativeto a fixed object having a known position. The reference object can havean image capturing device and a primary GPS receiver, whereby thereference object and the fixed object define a threshold plane betweenthem, and whereby the threshold plane is subject to movements induced bymovements of the reference object. Step 206 can include capturing imageswith the image capturing device of the vehicles crossing the thresholdplane. Step 208 can include receiving geospatial data gathered from theGPS receivers, the primary GPS receiver, and the known position of thefixed object. Step 210 can include receiving photometric data gatheredby the image capturing device. Step 212 can include comparing theposition of each vehicle at a time each vehicle crosses the thresholdplane by analyzing the photometric data and the geospatial data. Step214 can include indicating or displaying a determined positional orderof when each vehicle crossed the threshold plane. Step 216 can includealigning time of data logs gathered from the photometric data andgeospatial data.

FIG. 4 illustrates a method 300 for determining finishing order of boatscrossing a finishing line. The method 300 can include step 302 ofidentifying one or more boats in a race, each comprising a GPS receiverfor determining a respective boat location. Step 304 can includepositioning a reference boat relative to a fixed object having a knownposition, whereby the reference boat and the fixed object define afinishing line between them that is subject to movements induced by themovements of the reference boat. Step 306 can include indicating adetermined positional order at which each boat crossed the finishingline by analyzing photometric data gathered from an image recordingdevice on the reference boat as compared to geospatial data gatheredfrom the GPS receiver on each boat, a primary GPS receiver on thereference boat, and the known position of the fixed object. Step 308 caninclude allowing the reference boat to move due to environmental forcesacting on the reference boat, thereby facilitating a dynamic finishingline.

[Alternative Embodiment]In an alternative embodiment, the referenceobject can be a fixed object (such as a buoy having a GPS receiverand/or a fixed mapping point) instead of a boat. An image capturingdevice could be mounted on such reference object and used as discussedin the present disclosure. If both the reference object and fixed objectare buoys, one or both may be movable by forces induced by theenvironment, thereby causing a dynamic threshold plane through which themoving objects may pass through. In another alternative embodiment,manual time-keeping and image capturing can be utilized. For example, aperson having a stop watch (or other time keeping device) and a videorecorder on the reference object can video record the vehicles as theycross a particular threshold plane and then “time align” the images ofthe video with the exact time captured by the stop watch during videorecording. Other mechanisms that can be implemented with the presentmethods are paper strips with a means of marking the strip. This can bedone with ink or (in some cases) a repeating spark marking the paper asit is drawn through the space gap. Still another mechanism that can beused with the existing methods is to photograph an oscilloscope trace.Yet another mechanism is to use mechanical or electro optical mechanismsto start and stop timers.

It is to be understood that the embodiments of the invention disclosedare not limited to the particular structures, process steps, ormaterials disclosed herein, but are extended to equivalents thereof aswould be recognized by those ordinarily skilled in the relevant arts. Itshould also be understood that terminology employed herein is used forthe purpose of describing particular embodiments only and is notintended to be limiting.

Reference throughout this specification to “one embodiment” or “anembodiment” means that a particular feature, structure, orcharacteristic described in connection with the embodiment is includedin at least one embodiment of the present invention. Thus, appearancesof the phrases “in one embodiment” or “in an embodiment” in variousplaces throughout this specification are not necessarily all referringto the same embodiment.

As used herein, a plurality of items, structural elements, compositionalelements, and/or materials can be presented in a common list forconvenience. However, these lists should be construed as though eachmember of the list is individually identified as a separate and uniquemember. Thus, no individual member of such list should be construed as ade facto equivalent of any other member of the same list solely based ontheir presentation in a common group without indications to thecontrary. In addition, various embodiments and example of the presentinvention can be referred to herein along with alternatives for thevarious components thereof. It is understood that such embodiments,examples, and alternatives are not to be construed as de factoequivalents of one another, but are to be considered as separate andautonomous representations of the present invention.

Furthermore, the described features, structures, or characteristics canbe combined in any suitable manner in one or more embodiments. In thedescription, numerous specific details are provided, such as examples oflengths, widths, shapes, etc., to provide a thorough understanding ofembodiments of the invention. One skilled in the relevant art willrecognize, however, that the invention can be practiced without one ormore of the specific details, or with other methods, components,materials, etc. In other instances, well-known structures, materials, oroperations are not shown or described in detail to avoid obscuringaspects of the invention.

While the foregoing examples are illustrative of the principles of thepresent invention in one or more particular applications, it will beapparent to those of ordinary skill in the art that numerousmodifications in form, usage and details of implementation can be madewithout the exercise of inventive faculty, and without departing fromthe principles and concepts of the invention. Accordingly, it is notintended that the invention be limited, except as by the claims setforth below.

What is claimed is:
 1. A system for determining order of vehicles acrossa threshold plane within a dynamic environment, the system comprising: aplurality of GPS receivers, each mounted on respective moving vehicles;a reference object having an image capturing device and a primary GPSreceiver, whereby the reference object is subject to movement induced bythe dynamic environment; a fixed object having a known position relativeto the reference object, the primary GPS and the fixed object defining athreshold plane between them, whereby the threshold plane is subject tomovements induced by movement of the reference object; photometric datagathered by the image capturing device and geospatial data gathered bythe GPS receivers, the primary GPS receiver, and the known location ofthe fixed object; and a processor configured to receive the photometricdata and geospatial data, and to decode super frame data and time deltadata, to determine a positional order at which the vehicles cross thethreshold plane by comparing the position of each vehicle relative tothe threshold plane.
 2. The system of claim 1, wherein the vehicles eachcomprise water vehicles or air vehicles.
 3. The system of claim 1,wherein the fixed object either includes a GPS receiver to indicate theknown position or includes a fixed mapping location having a latitudeand longitude.
 4. The system of claim 1, wherein the primary GPSreceiver is time synced with the image capturing device fordetermination of a reference time and a reference position of thereference object relative to the fixed object.
 5. The system of claim 1,wherein a distance of the threshold plane between the reference objectand the fixed object is calculated based on the geospatial data gatheredfrom the primary GPS receiver and the known location of the fixedobject.
 6. The system of claim 1, wherein the processor is furtherconfigured to compare successive images gathered from the imagecapturing device to determine a displacement distance and a velocity ofat least one of the vehicles.
 7. The system of claim 1, wherein thesuper frame data and the time delta data are decoded by the processor tointerpolate a relative time and a relative position for each vehicle asit crosses the threshold plane.
 8. The system of claim 1, wherein theprocessor is configured to time-align data logs gathered from thegeospatial data and photometric data to determine the positional orderat which the vehicles cross the threshold plane.
 9. The system of claim1, wherein the image recording device comprises a video recording devicehaving a focal point directed toward the fixed object at least along thethreshold plane.
 10. The system of claim 1, wherein the geospatial datacomprises a relative time and a relative position logged by each GPSreceiver of each vehicle as it crosses the threshold plane.
 11. Thesystem of claim 1, wherein the fixed object comprises a buoy secured toa floor or subsurface of a body of water and positioned proximate asurface of the body of water, and wherein the reference object comprisesa boat.
 12. The system of claim 1, wherein the plurality of vehiclescomprise sailboats racing each other, and wherein the threshold planecomprises a finishing line for the racing sailboats.
 13. The system ofclaim 1, wherein the reference object or the fixed object comprises atleast one of a boat, submarine, unmanned underwater vehicle, buoy, raft,drone, balloon, or helicopter.
 14. A method for determining order ofvehicles crossing a threshold plane within a dynamic environment, themethod comprising: identifying one or more moving vehicles, eachcomprising a GPS receiver for determining a respective vehicle location;positioning a reference object relative to a fixed object having a knownposition, the reference object having an image capturing device and aprimary GPS receiver, whereby the reference object and the fixed objectdefine a threshold plane between them, whereby the threshold plane issubject to movements induced by the movements of the reference object;capturing images with the image capturing device of the vehiclescrossing the threshold plane; receiving geospatial data gathered fromthe GPS receivers, the primary GPS receiver, and the known position ofthe fixed object; receiving photometric data gathered by the imagecapturing device; comparing the position of each vehicle, with aprocessor, at a time each vehicle crosses the threshold plane byanalyzing the photometric data and the geospatial data, and by decodingsuper frame data and time delta data to determine a positional order atwhich each vehicle crossed the threshold plane; and indicating ordisplaying the positional order determined by the processor.
 15. Themethod of claim 14, wherein comparing the position includes aligningtime of data logs gathered from the photometric data and the geospatialdata.
 16. The method of claim 14, further comprising determining areference time and a reference position of the reference object based onthe data gathered from the primary GPS receiver and the known positionof the fixed object.
 17. The method of claim 14, further comprisinganalyzing successive images gathered from the image capturing device aseach vehicle is adjacent to or across the threshold plane to determineat least one of a displacement distance and a velocity of at least oneof the vehicles.
 18. The method of claim 14, wherein decoding superframe data and time delta data comprises interpolating a relative timeat which each vehicle crossed the threshold plane.
 19. A method fordetermining finishing order of boats crossing a finishing line, themethod comprising: identifying one or more boats in a race, eachcomprising a GPS receiver for determining a respective boat location;positioning a reference boat relative to a fixed object having a knownposition, whereby the reference boat and the fixed object define afinishing line between them that is subject to movements induced by themovements of the reference boat; indicating a positional order, asdetermined by a processor, at which each boat crossed the finishing lineby analyzing photometric data gathered from an image recording device onthe reference boat as compared to geospatial data gathered from the GPSreceiver on each boat, a primary GPS receiver on the reference boat, andthe known position of the fixed object, wherein the processor isconfigured decode super frame data and time delta data to interpolate arelative time at which each boat crosses the finishing line to determinethe position order.
 20. The method of claim 19, further comprisingallowing the reference boat to move due to environmental forces actingon the reference boat, thereby facilitating a dynamic finishing line,and accounting for the movement.
 21. A system for determining order ofvehicles across a threshold plane within a dynamic environment, thesystem comprising: a plurality of GPS receivers, each mounted onrespective moving vehicles; a reference object having an image capturingdevice and a primary GPS receiver, whereby the reference object issubject to movement induced by the dynamic environment; a fixed objecthaving a known position relative to the reference object, the primaryGPS and the fixed object defining a threshold plane between them,whereby the threshold plane is subject to movements induced by movementof the reference object, wherein the image recording device has a focalpoint directed toward the fixed object at least along the thresholdplane; photometric data gathered by the image capturing device andgeospatial data gathered by the GPS receivers, the primary GPS receiver,and the known location of the fixed object; and a processor configuredto receive the photometric data and geospatial data and to determine apositional order at which the vehicles cross the threshold plane bycomparing the position of each vehicle relative to the threshold plane.